mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.9 KiB
C++
71 lines
1.9 KiB
C++
#ifndef AP_IMU_h
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#define AP_IMU_h
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#include <FastSerial.h>
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#include <AP_Math.h>
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#include <inttypes.h>
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#include "WProgram.h"
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#include <AP_ADC.h>
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#include <avr/eeprom.h>
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class AP_IMU
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{
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public:
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// Constructors
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AP_IMU(AP_ADC *adc, uint16_t address) :
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_adc(adc),
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_address(address)
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{}
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// Methods
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void init(void); // inits both
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void init_accel(void); // just Accels
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void init_gyro(void); // just gyros
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void zero_accel(void);
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void load_gyro_eeprom(void);
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void save_gyro_eeprom(void);
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void load_accel_eeprom(void);
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void save_accel_eeprom(void);
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void print_accel_offsets(void);
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void print_gyro_offsets(void);
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void ax(const int v) { _adc_offset[3] = v; }
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void ay(const int v) { _adc_offset[4] = v; }
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void az(const int v) { _adc_offset[5] = v; }
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// raw ADC values - called by DCM
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Vector3f get_gyro(void); // Radians/second
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Vector3f get_accel(void); // meters/seconds squared
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// Members
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uint8_t adc_constraints; // a check of how many times we get non-sensical values
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private:
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// Methods
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void read_offsets(void);
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float gyro_temp_comp(int i, int temp) const;
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// members
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uint16_t _address; // EEPROM start address for saving/retrieving offsets
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float _adc_in[6]; // array that store the 6 ADC channels used by IMU
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float _adc_offset[6]; // Array that store the Offset of the gyros and accelerometers
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Vector3f _accel_vector; // Store the acceleration in a vector
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Vector3f _gyro_vector; // Store the gyros turn rate in a vector
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AP_ADC * _adc; // Analog to digital converter pointer
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float read_EE_float(int address);
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void write_EE_float(float value, int address);
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// constants
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static const uint8_t _sensors[6];
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static const int _sensor_signs[9];
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static const uint8_t _gyro_temp_ch = 3; // The ADC channel reading the gyro temperature
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static const float _gyro_temp_curve[3][3];
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};
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#endif
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